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<div class="title">file_io.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id: file_io.h 827 2011-05-04 02:00:04Z nizar $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_IO_FILE_IO_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_IO_FILE_IO_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/io/boost.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/PolygonMesh.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/TextureMesh.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html">   56</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_file_reader.html">FileReader</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html#a94072e7c2380c4c1da3465c2b69af9f9">   60</a></span>&#160;      <a class="code" href="classpcl_1_1_file_reader.html#a94072e7c2380c4c1da3465c2b69af9f9">FileReader</a>() {}</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html#a7edf7999f66456a8dff01ff2ac157513">   62</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_file_reader.html#a7edf7999f66456a8dff01ff2ac157513">~FileReader</a>() {}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html#ae51784cb6db39877b912df20377eaef1">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_file_reader.html#ae51784cb6db39877b912df20377eaef1">readHeader</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                  Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                  <span class="keywordtype">int</span> &amp;file_version, <span class="keywordtype">int</span> &amp;data_type, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;data_idx, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0) = 0;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, <span class="keywordtype">int</span> &amp;file_version, </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0) = 0;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_file_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        Eigen::Vector4f origin;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        Eigen::Quaternionf orientation;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">int</span> file_version;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordflow">return</span> (read (file_name, cloud, origin, orientation, file_version, offset));</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_file_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> offset  =0)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">int</span> file_version;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordtype">int</span> res = read (file_name, blob, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>, </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                        file_version, offset);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="comment">// Exit in case of error</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">if</span> (res &lt; 0)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        pcl::fromPCLPointCloud2 (blob, cloud);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  };</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_writer.html">  162</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_file_writer.html">FileWriter</a></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_writer.html#aa1a081646615999827280a8cae0158d7">  166</a></span>&#160;      <a class="code" href="classpcl_1_1_file_writer.html#aa1a081646615999827280a8cae0158d7">FileWriter</a> () {}</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_writer.html#a93ef3fe00cbeebcc804065f4ad2ec5ea">  169</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_file_writer.html#a93ef3fe00cbeebcc804065f4ad2ec5ea">~FileWriter</a> () {}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_writer.html#a21be1af9921c4a4661905263ca50eaa6">  180</a></span>&#160;      <a class="code" href="classpcl_1_1_file_writer.html#a21be1af9921c4a4661905263ca50eaa6">write</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;             <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;             <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity (),</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>) = 0;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_writer.html#ae61e462178e5ebdb5acec2bd1f89d188">  194</a></span>&#160;      <a class="code" href="classpcl_1_1_file_writer.html#ae61e462178e5ebdb5acec2bd1f89d188">write</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> pcl::PCLPointCloud2::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;             <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;             <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity (),</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordflow">return</span> (write (file_name, *cloud, origin, orientation, binary));</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_file_writer.html#a5b3c314e7b4343d8f3f2d52565e0f431">  209</a></span>&#160;      <a class="code" href="classpcl_1_1_file_writer.html#a5b3c314e7b4343d8f3f2d52565e0f431">write</a> (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        Eigen::Vector4f origin = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        Eigen::Quaternionf orientation = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        pcl::toPCLPointCloud2 (cloud, blob);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="comment">// Save the data</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordflow">return</span> (write (file_name, blob, origin, orientation, binary));</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  };</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Type&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  copyValueString (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">int</span> point_size, </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count, </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                   std::ostream &amp;stream)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    Type value;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    memcpy (&amp;value, &amp;cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (Type)], <span class="keyword">sizeof</span> (Type));</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">if</span> (pcl_isnan (value))</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      stream &lt;&lt; <span class="stringliteral">&quot;nan&quot;</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      stream &lt;&lt; boost::numeric_cast&lt;Type&gt;(value);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  copyValueString&lt;int8_t&gt; (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">int</span> point_size, </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count, </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                           std::ostream &amp;stream)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    int8_t value;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    memcpy (&amp;value, &amp;cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (int8_t)], <span class="keyword">sizeof</span> (int8_t));</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">if</span> (pcl_isnan (value))</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      stream &lt;&lt; <span class="stringliteral">&quot;nan&quot;</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="comment">// Numeric cast doesn&#39;t give us what we want for int8_t</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      stream &lt;&lt; boost::numeric_cast&lt;int&gt;(value);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  copyValueString&lt;uint8_t&gt; (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">int</span> point_size, </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count, </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                            std::ostream &amp;stream)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    uint8_t value;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    memcpy (&amp;value, &amp;cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (uint8_t)], <span class="keyword">sizeof</span> (uint8_t));</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordflow">if</span> (pcl_isnan (value))</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      stream &lt;&lt; <span class="stringliteral">&quot;nan&quot;</span>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="comment">// Numeric cast doesn&#39;t give us what we want for uint8_t</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      stream &lt;&lt; boost::numeric_cast&lt;int&gt;(value);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Type&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  isValueFinite (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">int</span> point_size, </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    Type value;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    memcpy (&amp;value, &amp;cloud.data[point_index * point_size + cloud.fields[field_idx].offset + fields_count * sizeof (Type)], <span class="keyword">sizeof</span> (Type));</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (value))</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Type&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  copyStringValue (<span class="keyword">const</span> std::string &amp;st, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count)</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    Type value;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">if</span> (boost::iequals(st, <span class="stringliteral">&quot;nan&quot;</span>))</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    {</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      value = std::numeric_limits&lt;Type&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      cloud.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    }</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      std::istringstream is (st);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      is.imbue (std::locale::classic ());</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keywordflow">if</span> (!(is &gt;&gt; value))</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        value = <span class="keyword">static_cast&lt;</span>Type<span class="keyword">&gt;</span> (atof (st.c_str ()));</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    }</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    memcpy (&amp;cloud.data[point_index * cloud.point_step + </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                        cloud.fields[field_idx].offset + </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                        fields_count * sizeof (Type)], <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;value), <span class="keyword">sizeof</span> (Type));</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  copyStringValue&lt;int8_t&gt; (<span class="keyword">const</span> std::string &amp;st, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    int8_t value;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">if</span> (boost::iequals(st, <span class="stringliteral">&quot;nan&quot;</span>))</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      value = <span class="keyword">static_cast&lt;</span>int8_t<span class="keyword">&gt;</span> (std::numeric_limits&lt;int&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      cloud.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    {</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keywordtype">int</span> val;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      std::istringstream is (st);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      is.imbue (std::locale::classic ());</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <span class="comment">//is &gt;&gt; val;  -- unfortunately this fails on older GCC versions and CLANG on MacOS</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keywordflow">if</span> (!(is &gt;&gt; val))</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        val = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (atof (st.c_str ()));</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      value = <span class="keyword">static_cast&lt;</span>int8_t<span class="keyword">&gt;</span> (val);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    }</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    memcpy (&amp;cloud.data[point_index * cloud.point_step + </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                        cloud.fields[field_idx].offset + </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                        fields_count * sizeof (int8_t)], <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;value), <span class="keyword">sizeof</span> (int8_t));</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keyword">template</span> &lt;&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  copyStringValue&lt;uint8_t&gt; (<span class="keyword">const</span> std::string &amp;st, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_index, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> field_idx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fields_count)</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  {</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    uint8_t value;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keywordflow">if</span> (boost::iequals(st, <span class="stringliteral">&quot;nan&quot;</span>))</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    {</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      value = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (std::numeric_limits&lt;int&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      cloud.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <span class="keywordtype">int</span> val;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      std::istringstream is (st);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      is.imbue (std::locale::classic ());</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="comment">//is &gt;&gt; val;  -- unfortunately this fails on older GCC versions and CLANG on MacOS</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="keywordflow">if</span> (!(is &gt;&gt; val))</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        val = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (atof (st.c_str ()));</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      value = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (val);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    memcpy (&amp;cloud.data[point_index * cloud.point_step + </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;                        cloud.fields[field_idx].offset + </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                        fields_count * sizeof (uint8_t)], <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;value), <span class="keyword">sizeof</span> (uint8_t));</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;}</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_IO_FILE_IO_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html"><div class="ttname"><a href="classpcl_1_1_file_reader.html">pcl::FileReader</a></div><div class="ttdoc">Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement ...</div><div class="ttdef"><b>Definition:</b> file_io.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_a6c7b7ed00b43536739a8465064426c1b"><div class="ttname"><a href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">pcl::FileReader::read</a></div><div class="ttdeci">virtual int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)=0</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_a7edf7999f66456a8dff01ff2ac157513"><div class="ttname"><a href="classpcl_1_1_file_reader.html#a7edf7999f66456a8dff01ff2ac157513">pcl::FileReader::~FileReader</a></div><div class="ttdeci">virtual ~FileReader()</div><div class="ttdoc">empty destructor</div><div class="ttdef"><b>Definition:</b> file_io.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_a94072e7c2380c4c1da3465c2b69af9f9"><div class="ttname"><a href="classpcl_1_1_file_reader.html#a94072e7c2380c4c1da3465c2b69af9f9">pcl::FileReader::FileReader</a></div><div class="ttdeci">FileReader()</div><div class="ttdoc">empty constructor</div><div class="ttdef"><b>Definition:</b> file_io.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_aa38fa10dc5ca8f8a9b3e7c41f1cf36af"><div class="ttname"><a href="classpcl_1_1_file_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">pcl::FileReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PointCloud&lt; PointT &gt; &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data from any FILE file, and convert it to the given template format.</div><div class="ttdef"><b>Definition:</b> file_io.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_abfa34c71c7f148557a5d3ab0517e1c29"><div class="ttname"><a href="classpcl_1_1_file_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">pcl::FileReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.</div><div class="ttdef"><b>Definition:</b> file_io.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_ae51784cb6db39877b912df20377eaef1"><div class="ttname"><a href="classpcl_1_1_file_reader.html#ae51784cb6db39877b912df20377eaef1">pcl::FileReader::readHeader</a></div><div class="ttdeci">virtual int readHeader(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, int &amp;data_type, unsigned int &amp;data_idx, const int offset=0)=0</div><div class="ttdoc">Read a point cloud data header from a FILE file.</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html"><div class="ttname"><a href="classpcl_1_1_file_writer.html">pcl::FileWriter</a></div><div class="ttdoc">Point Cloud Data (FILE) file format writer. Any (FILE) format file reader should implement its virtua...</div><div class="ttdef"><b>Definition:</b> file_io.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html_a21be1af9921c4a4661905263ca50eaa6"><div class="ttname"><a href="classpcl_1_1_file_writer.html#a21be1af9921c4a4661905263ca50eaa6">pcl::FileWriter::write</a></div><div class="ttdeci">virtual int write(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)=0</div><div class="ttdoc">Save point cloud data to a FILE file containing n-D points</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html_a5b3c314e7b4343d8f3f2d52565e0f431"><div class="ttname"><a href="classpcl_1_1_file_writer.html#a5b3c314e7b4343d8f3f2d52565e0f431">pcl::FileWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const bool binary=false)</div><div class="ttdoc">Save point cloud data to a FILE file containing n-D points</div><div class="ttdef"><b>Definition:</b> file_io.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html_a93ef3fe00cbeebcc804065f4ad2ec5ea"><div class="ttname"><a href="classpcl_1_1_file_writer.html#a93ef3fe00cbeebcc804065f4ad2ec5ea">pcl::FileWriter::~FileWriter</a></div><div class="ttdeci">virtual ~FileWriter()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> file_io.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html_aa1a081646615999827280a8cae0158d7"><div class="ttname"><a href="classpcl_1_1_file_writer.html#aa1a081646615999827280a8cae0158d7">pcl::FileWriter::FileWriter</a></div><div class="ttdeci">FileWriter()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> file_io.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html_ae61e462178e5ebdb5acec2bd1f89d188"><div class="ttname"><a href="classpcl_1_1_file_writer.html#ae61e462178e5ebdb5acec2bd1f89d188">pcl::FileWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PCLPointCloud2::ConstPtr &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)</div><div class="ttdoc">Save point cloud data to a FILE file containing n-D points</div><div class="ttdef"><b>Definition:</b> file_io.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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